MAVLinkProtocol.h 11.8 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

pixhawk's avatar
pixhawk committed
3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

pixhawk's avatar
pixhawk committed
5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

pixhawk's avatar
pixhawk committed
7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

pixhawk's avatar
pixhawk committed
9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

pixhawk's avatar
pixhawk committed
14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
pixhawk's avatar
pixhawk committed
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25

======================================================================*/

/**
 * @file
pixhawk's avatar
pixhawk committed
26 27
 *   @brief Definition of class MAVLinkProtocol
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
28 29 30 31 32 33 34 35 36
 */

#ifndef MAVLINKPROTOCOL_H_
#define MAVLINKPROTOCOL_H_

#include <QObject>
#include <QMutex>
#include <QString>
#include <QTimer>
lm's avatar
lm committed
37
#include <QFile>
lm's avatar
lm committed
38
#include <QMap>
pixhawk's avatar
pixhawk committed
39
#include <QByteArray>
40
#include <QLoggingCategory>
Don Gagne's avatar
Don Gagne committed
41

pixhawk's avatar
pixhawk committed
42
#include "LinkInterface.h"
pixhawk's avatar
pixhawk committed
43
#include "QGCMAVLink.h"
44
#include "QGC.h"
45
#include "QGCTemporaryFile.h"
46
#include "QGCSingleton.h"
pixhawk's avatar
pixhawk committed
47

48 49
class LinkManager;

50 51
Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)

pixhawk's avatar
pixhawk committed
52
/**
pixhawk's avatar
pixhawk committed
53
 * @brief MAVLink micro air vehicle protocol reference implementation.
pixhawk's avatar
pixhawk committed
54
 *
pixhawk's avatar
pixhawk committed
55 56 57
 * MAVLink is a generic communication protocol for micro air vehicles.
 * for more information, please see the official website.
 * @ref http://pixhawk.ethz.ch/software/mavlink/
pixhawk's avatar
pixhawk committed
58
 **/
59
class MAVLinkProtocol : public QGCSingleton
60
{
pixhawk's avatar
pixhawk committed
61
    Q_OBJECT
62
    
63
    DECLARE_QGC_SINGLETON(MAVLinkProtocol, MAVLinkProtocol)
pixhawk's avatar
pixhawk committed
64

65
public:
pixhawk's avatar
pixhawk committed
66 67
    /** @brief Get the human-friendly name of this protocol */
    QString getName();
68 69 70 71
    /** @brief Get the system id of this application */
    int getSystemId();
    /** @brief Get the component id of this application */
    int getComponentId();
pixhawk's avatar
pixhawk committed
72 73 74
    /** @brief The auto heartbeat emission rate in Hertz */
    int getHeartbeatRate();
    /** @brief Get heartbeat state */
75
    bool heartbeatsEnabled() const {
76
        return _heartbeatsEnabled;
77
    }
Don Gagne's avatar
Don Gagne committed
78
    
lm's avatar
lm committed
79
    /** @brief Get protocol version check state */
80 81 82
    bool versionCheckEnabled() const {
        return m_enable_version_check;
    }
83
    /** @brief Get the multiplexing state */
84 85 86
    bool multiplexingEnabled() const {
        return m_multiplexingEnabled;
    }
87
    /** @brief Get the authentication state */
88 89 90
    bool getAuthEnabled() {
        return m_authEnabled;
    }
91
    /** @brief Get the protocol version */
92 93 94
    int getVersion() {
        return MAVLINK_VERSION;
    }
95
    /** @brief Get the auth key */
96 97 98
    QString getAuthKey() {
        return m_authKey;
    }
99
    /** @brief Get state of parameter retransmission */
100 101 102
    bool paramGuardEnabled() {
        return m_paramGuardEnabled;
    }
103
    /** @brief Get parameter read timeout */
104 105 106
    int getParamRetransmissionTimeout() {
        return m_paramRetransmissionTimeout;
    }
107
    /** @brief Get parameter write timeout */
108 109 110
    int getParamRewriteTimeout() {
        return m_paramRewriteTimeout;
    }
111
    /** @brief Get state of action retransmission */
112 113 114
    bool actionGuardEnabled() {
        return m_actionGuardEnabled;
    }
115
    /** @brief Get parameter read timeout */
116 117 118
    int getActionRetransmissionTimeout() {
        return m_actionRetransmissionTimeout;
    }
119 120 121 122
    /**
     * Retrieve a total of all successfully parsed packets for the specified link.
     * @returns -1 if this is not available for this protocol, # of packets otherwise.
     */
123
    qint32 getReceivedPacketCount(const LinkInterface *link) const {
124
        return totalReceiveCounter[link->getMavlinkChannel()];
125 126 127 128 129
    }
    /**
     * Retrieve a total of all parsing errors for the specified link.
     * @returns -1 if this is not available for this protocol, # of errors otherwise.
     */
130
    qint32 getParsingErrorCount(const LinkInterface *link) const {
131
        return totalErrorCounter[link->getMavlinkChannel()];
132 133 134 135 136
    }
    /**
     * Retrieve a total of all dropped packets for the specified link.
     * @returns -1 if this is not available for this protocol, # of packets otherwise.
     */
137
    qint32 getDroppedPacketCount(const LinkInterface *link) const {
138
        return totalLossCounter[link->getMavlinkChannel()];
139
    }
140 141 142 143
    /**
     * Reset the counters for all metadata for this link.
     */
    virtual void resetMetadataForLink(const LinkInterface *link);
Don Gagne's avatar
Don Gagne committed
144
    
145 146
    /// Suspend/Restart logging during replay.
    void suspendLogForReplay(bool suspend);
Lorenz Meier's avatar
Lorenz Meier committed
147

pixhawk's avatar
pixhawk committed
148 149
public slots:
    /** @brief Receive bytes from a communication interface */
150
    void receiveBytes(LinkInterface* link, QByteArray b);
151 152 153 154
    
    void linkConnected(void);
    void linkDisconnected(void);
    
pixhawk's avatar
pixhawk committed
155 156
    /** @brief Send MAVLink message through serial interface */
    void sendMessage(mavlink_message_t message);
Lorenz Meier's avatar
Lorenz Meier committed
157
    /** @brief Send MAVLink message */
pixhawk's avatar
pixhawk committed
158
    void sendMessage(LinkInterface* link, mavlink_message_t message);
Lorenz Meier's avatar
Lorenz Meier committed
159 160
    /** @brief Send MAVLink message with correct system / component ID */
    void sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid);
pixhawk's avatar
pixhawk committed
161 162
    /** @brief Set the rate at which heartbeats are emitted */
    void setHeartbeatRate(int rate);
163 164
    /** @brief Set the system id of this application */
    void setSystemId(int id);
pixhawk's avatar
pixhawk committed
165 166 167 168

    /** @brief Enable / disable the heartbeat emission */
    void enableHeartbeats(bool enabled);

169 170 171
    /** @brief Enabled/disable packet multiplexing */
    void enableMultiplexing(bool enabled);

172 173 174
    /** @brief Enable / disable parameter retransmission */
    void enableParamGuard(bool enabled);

175 176 177
    /** @brief Enable / disable action retransmission */
    void enableActionGuard(bool enabled);

178 179 180 181 182 183
    /** @brief Set parameter read timeout */
    void setParamRetransmissionTimeout(int ms);

    /** @brief Set parameter write timeout */
    void setParamRewriteTimeout(int ms);

184 185 186
    /** @brief Set parameter read timeout */
    void setActionRetransmissionTimeout(int ms);

lm's avatar
lm committed
187 188 189
    /** @brief Enable / disable version check */
    void enableVersionCheck(bool enabled);

190 191 192 193
    /** @brief Enable / disable authentication */
    void enableAuth(bool enable);

    /** @brief Set authentication token */
194 195 196
    void setAuthKey(QString key) {
        m_authKey = key;
    }
197

pixhawk's avatar
pixhawk committed
198 199 200
    /** @brief Send an extra heartbeat to all connected units */
    void sendHeartbeat();

201 202 203 204
    /** @brief Load protocol settings */
    void loadSettings();
    /** @brief Store protocol settings */
    void storeSettings();
Don Gagne's avatar
Don Gagne committed
205
    
Don Gagne's avatar
Don Gagne committed
206
#ifndef __mobile__
207 208
    /// @brief Deletes any log files which are in the temp directory
    static void deleteTempLogFiles(void);
209 210 211
    
    /// Checks for lost log files
    void checkForLostLogFiles(void);
Don Gagne's avatar
Don Gagne committed
212
#endif
Don Gagne's avatar
Don Gagne committed
213

214
protected:
215
    bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
216 217
    bool m_authEnabled;        ///< Enable authentication token broadcast
    QString m_authKey;         ///< Authentication key
lm's avatar
lm committed
218
    bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
219 220
    int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission
    int m_paramRewriteTimeout;    ///< Timeout for sending re-write request
221 222 223
    bool m_paramGuardEnabled;       ///< Parameter retransmission/rewrite enabled
    bool m_actionGuardEnabled;       ///< Action request retransmission enabled
    int m_actionRetransmissionTimeout; ///< Timeout for parameter retransmission
224 225 226 227 228 229 230
    QMutex receiveMutex;        ///< Mutex to protect receiveBytes function
    int lastIndex[256][256];    ///< Store the last received sequence ID for each system/componenet pair
    int totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS];    ///< The total number of successfully received messages
    int totalLossCounter[MAVLINK_COMM_NUM_BUFFERS];       ///< Total messages lost during transmission.
    int totalErrorCounter[MAVLINK_COMM_NUM_BUFFERS];      ///< Total count of all parsing errors. Generally <= totalLossCounter.
    int currReceiveCounter[MAVLINK_COMM_NUM_BUFFERS];     ///< Received messages during this sample time window. Used for calculating loss %.
    int currLossCounter[MAVLINK_COMM_NUM_BUFFERS];        ///< Lost messages during this sample time window. Used for calculating loss %.
231
    bool versionMismatchIgnore;
232
    int systemId;
233

pixhawk's avatar
pixhawk committed
234 235 236 237 238
signals:
    /** @brief Message received and directly copied via signal */
    void messageReceived(LinkInterface* link, mavlink_message_t message);
    /** @brief Emitted if heartbeat emission mode is changed */
    void heartbeatChanged(bool heartbeats);
239 240
    /** @brief Emitted if multiplexing is started / stopped */
    void multiplexingChanged(bool enabled);
241 242 243 244
    /** @brief Emitted if authentication support is enabled / disabled */
    void authKeyChanged(QString key);
    /** @brief Authentication changed */
    void authChanged(bool enabled);
lm's avatar
lm committed
245 246
    /** @brief Emitted if version check is enabled / disabled */
    void versionCheckChanged(bool enabled);
247 248
    /** @brief Emitted if a message from the protocol should reach the user */
    void protocolStatusMessage(const QString& title, const QString& message);
249 250 251 252 253 254 255 256
    /** @brief Emitted if a new system ID was set */
    void systemIdChanged(int systemId);
    /** @brief Emitted if param guard status changed */
    void paramGuardChanged(bool enabled);
    /** @brief Emitted if param read timeout changed */
    void paramRetransmissionTimeoutChanged(int ms);
    /** @brief Emitted if param write timeout changed */
    void paramRewriteTimeoutChanged(int ms);
257 258
    /** @brief Emitted if action guard status changed */
    void actionGuardChanged(bool enabled);
259
    /** @brief Emitted if action request timeout changed */
260
    void actionRetransmissionTimeoutChanged(int ms);
261 262 263
    /** @brief Update the packet loss from one system */
    void receiveLossChanged(int uasId, float loss);

264 265 266 267 268 269 270 271 272 273 274 275 276
    /**
     * @brief Emitted if a new radio status packet received
     *
     * @param rxerrors receive errors
     * @param fixed count of error corrected packets
     * @param rssi local signal strength
     * @param remrssi remote signal strength
     * @param txbuf how full the tx buffer is as a percentage
     * @param noise background noise level
     * @param remnoise remote background noise level
     */
    void radioStatusChanged(LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi,
    unsigned txbuf, unsigned noise, unsigned remnoise);
Don Gagne's avatar
Don Gagne committed
277 278 279 280 281
    
    /// @brief Emitted when a temporary log file is ready for saving
    void saveTempFlightDataLog(QString tempLogfile);
    
private:
282 283 284
    MAVLinkProtocol(QObject* parent = NULL);
    ~MAVLinkProtocol();

285
    void _linkStatusChanged(LinkInterface* link, bool connected);
Don Gagne's avatar
Don Gagne committed
286 287

#ifndef __mobile__
Don Gagne's avatar
Don Gagne committed
288 289 290
    bool _closeLogFile(void);
    void _startLogging(void);
    void _stopLogging(void);
Don Gagne's avatar
Don Gagne committed
291

Don Gagne's avatar
Don Gagne committed
292 293
    bool _logSuspendError;      ///< true: Logging suspended due to error
    bool _logSuspendReplay;     ///< true: Logging suspended due to replay
Don Gagne's avatar
Don Gagne committed
294
    bool _logWasArmed;          ///< true: vehicle was armed during logging
Don Gagne's avatar
Don Gagne committed
295

296 297 298
    QGCTemporaryFile    _tempLogFile;            ///< File to log to
    static const char*  _tempLogFileTemplate;    ///< Template for temporary log file
    static const char*  _logFileExtension;       ///< Extension for log files
Don Gagne's avatar
Don Gagne committed
299 300 301 302 303 304
#endif
    
    /// List of all links connected to protocol. We keep SharedLinkInterface objects
    /// which are QSharedPointer's in order to maintain reference counts across threads.
    /// This way Link deletion works correctly.
    QList<SharedLinkInterface> _connectedLinks;
Don Gagne's avatar
Don Gagne committed
305
    
306
    LinkManager* _linkMgr;
307 308 309 310
    
    QTimer  _heartbeatTimer;    ///< Timer to emit heartbeats
    int     _heartbeatRate;     ///< Heartbeat rate, controls the timer interval
    bool    _heartbeatsEnabled; ///< Enabled/disable heartbeat emission
pixhawk's avatar
pixhawk committed
311 312 313
};

#endif // MAVLINKPROTOCOL_H_